CN115979262A - Aircraft positioning method, device, equipment and storage medium - Google Patents
Aircraft positioning method, device, equipment and storage medium Download PDFInfo
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Abstract
The application belongs to the field of aviation, and particularly relates to a method, a device, equipment and a storage medium for positioning an aircraft. The method comprises the following steps: analyzing the overlook aerial image and the flight altitude based on an off-line Open Street Map (OSM) to obtain first global positioning information of the aircraft; and fusing the inertia measurement parameters and the first global positioning information to obtain second global positioning information of the aircraft, wherein the precision of the second global positioning information is higher than that of the first global positioning information, and the inertia measurement parameters comprise speed information, position information and attitude information of the aircraft. The method and the device can achieve the purpose that the aircraft can still be effectively positioned under the condition that the GPS signals fail.
Description
Technical Field
The present application relates to the field of aviation, and in particular, to a method, an apparatus, a device, and a storage medium for positioning an aircraft.
Background
In the field of aviation, precise positioning is a critical concern. Generally, an aircraft performs fusion Positioning by using Global Positioning System (GPS) signals provided by multiple satellites and Inertial Measurement information measured by an Inertial Measurement Unit (IMU). However, when the GPS signal fails, for example, the GPS signal is lost or unreliable due to interference, the positioning function of the aircraft is greatly affected. Therefore, there is a need for an effective aircraft location solution in the event of a GPS signal failure.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for positioning an aircraft, which can realize effective positioning of the aircraft under the condition that a GPS signal fails.
In a first aspect, the application provides a method for positioning an aircraft, the aircraft is provided with a shooting device and an altitude metering device, the shooting device is used for collecting an overlooking aerial image, and the altitude metering device is used for metering the flying altitude of the aircraft; the aircraft positioning method comprises the following steps: analyzing the overlook aerial image and the flying height based on an offline OSM to obtain first global positioning information of the aircraft; and fusing the inertia measurement parameters and the first global positioning information to obtain second global positioning information of the aircraft, wherein the precision of the second global positioning information is higher than that of the first global positioning information, and the inertia measurement parameters comprise speed information, position information and attitude information of the aircraft.
In one possible embodiment, analyzing the overhead aerial image and the flying height based on the offline OSM to obtain first global positioning information of the aircraft includes: determining a point characteristic image of a local sub-image of the OSM according to the OSM and the flight altitude; and determining first global positioning information according to the overlook aerial image, the global positioning information corresponding to the previous frame and the point characteristic image.
In one possible embodiment, determining a point feature image of a local sub-graph of the OSM from the OSM and the fly height comprises: determining a local subgraph according to the OSM, the flight altitude and the global positioning information corresponding to the previous frame; analyzing the local subgraph to obtain node information in the OSM, wherein the node information comprises nodes in the OSM, position information of the nodes and node relations among the nodes, and the nodes comprise road network nodes and building area nodes; and rendering the node information to obtain a point characteristic image.
In one possible implementation, determining a local subgraph according to the OSM, the flying height and the global positioning information corresponding to the previous frame includes: determining the index size of the local subgraph according to the flying height; and according to the global positioning information corresponding to the previous frame, indexing the OSM by adopting the index size to obtain a local subgraph.
In a possible implementation, rendering the node information to obtain a point feature image includes: performing connection processing on the nodes according to the position information of the nodes and the node relation among the nodes to obtain a node connection image; and rendering the node connection image to obtain a point characteristic image.
In a possible implementation manner, determining the first global positioning information according to the top-view aerial image, the global positioning information corresponding to the previous frame, and the point feature image includes: segmenting the overlook aerial image by adopting a semantic segmentation algorithm to obtain a pixel characteristic image, wherein the pixel characteristic image comprises road network pixels and building contour pixels; performing straight-line segment fitting processing on the pixel characteristic image by adopting a random sampling consistency algorithm to obtain a first characteristic vector diagram; constructing and obtaining a three-dimensional distance transformation integral graph according to the point characteristic image; matching the three-dimensional distance transformation integral image according to the first characteristic vector diagram, and determining local positioning information corresponding to the current frame; and performing pose splicing processing on the local positioning information and the global positioning information corresponding to the previous frame to determine first global positioning information.
In a possible implementation manner, constructing and obtaining a three-dimensional distance transformation integral graph according to the point feature image includes: performing straight line segment fitting processing on the point characteristic image to obtain a second characteristic vector diagram, wherein the second characteristic vector diagram comprises a plurality of straight line segments, the starting points of the straight line segments are first pixel points, and the end points of the straight line segments are second pixel points; and analyzing and processing the second characteristic vector diagram to obtain a three-dimensional distance transformation integral diagram.
In a possible implementation, the analyzing the second feature vector diagram to obtain a three-dimensional distance transformation integral diagram includes: aiming at each pixel point in the second characteristic vector diagram, determining the intersection point of the straight line segment of the quantization direction where the pixel point is located and the edge of the second characteristic vector diagram; determining all intermediate pixel points between the intersection points and the pixel points; determining the sum of the distance between each intermediate pixel point in all the intermediate pixel points and each straight line segment in the second characteristic vector diagram; determining the minimum value in the sum of the distances as a distance transformation integral value of the pixel point; and rendering the distance transformation integral value corresponding to each pixel point in the second characteristic vector diagram to obtain a three-dimensional distance transformation integral diagram.
In a possible implementation manner, the matching processing of the three-dimensional distance transformation integral map according to the first feature vector diagram to determine local positioning information corresponding to the current frame includes: according to the target step length, matching the three-dimensional distance conversion integral graph by adopting a first characteristic vector diagram to obtain a plurality of candidate integral graphs; and selecting and processing the candidate integrograms by adopting a non-maximum suppression algorithm to obtain local positioning information.
In a second aspect, the present application provides a positioning device for an aircraft, the aircraft is provided with a shooting device and an altitude metering device, the shooting device is used for collecting an aerial image for overlooking, and the altitude metering device is used for metering the flying altitude of the aircraft; this positioner of aircraft includes: the global positioning subsystem is used for analyzing the overlook aerial image and the flight altitude based on an offline OSM to obtain first global positioning information of the aircraft; the inertial navigation subsystem is used for measuring the aircraft to obtain inertial measurement parameters of the aircraft, and the inertial measurement parameters comprise speed information, position information and attitude information of the aircraft; and the filter is used for carrying out fusion processing on the inertia measurement parameters and the first global positioning information to obtain second global positioning information of the aircraft, wherein the precision of the second global positioning information is higher than that of the first global positioning information.
In one possible embodiment, the positioning device further comprises: and the frequency division output module is used for outputting the second global positioning information at the target frequency.
In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored by the memory to implement the method of locating an aircraft of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the method of positioning an aircraft as in the first aspect when executed by a processor.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method for positioning an aircraft of the first aspect.
According to the aircraft positioning method, the aircraft positioning device, the aircraft positioning equipment and the aircraft positioning medium, the global positioning subsystem based on the off-line OSM is used for analyzing and processing the OSM, the overlooking aerial image of the aircraft and the flying height of the aircraft to obtain the global positioning information of the current frame, and then the inertial measurement parameters measured by the inertial navigation subsystem and the global positioning information of the current frame are fused through the filter, so that the high-precision global positioning information of the aircraft can be obtained. Because the data volume of the OSM is small, the aircraft can store the OSM offline, and thus, the aircraft can still achieve effective positioning in the case of failure of the GPS signal.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a positioning device of an aircraft according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for locating an aircraft according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an offline OSM-based global positioning subsystem according to an embodiment of the present disclosure;
FIG. 4 is another schematic structural diagram of a positioning device of an aircraft according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept to those skilled in the art by reference to specific embodiments from which other drawings may be derived without inventive faculty to those skilled in the art.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terms referred to in this application are explained first:
open street map (openstreet map, OSM for short): the method is an online map cooperation plan for constructing free contents, aims to create a world map which is free in contents and can be edited by all people, and enables a general cheap mobile device to have a convenient navigation scheme.
In the related art provided in the background art, at least the following technical problems exist:
in the field of aviation, precise positioning is a critical concern. Generally, an aircraft uses a Global Positioning System (GPS) signal provided by multiple satellites and Inertial Measurement information obtained by an Inertial Measurement Unit (IMU) of the aircraft to perform fusion Positioning, but when the GPS signal is lost or interfered to cause GPS signal unreliability and other GPS signal failures, the Positioning function of the aircraft is greatly affected. Therefore, global positioning of an aircraft when GPS signals fail is an urgent problem to be solved in the field of aviation.
For the global positioning problem when the GPS signal fails, there are few studies in the field of aviation, and many studies in the field of automatic driving. In the field of automatic driving, when a GPS signal fails, a high-precision map and corresponding point cloud information are stored offline, and then the surrounding point cloud information is scanned by a sensor and matched with the corresponding point cloud information in the high-precision map, so as to determine the precise position of a vehicle on the high-precision map. However, although the global positioning based on the high-precision map can reach the accuracy of centimeter level, the global positioning mainly depends on the map accuracy provided by the high-precision map provider, and the higher the accuracy of the high-precision map is, the larger the memory space occupied by the high-precision map is, which has higher requirements on memory resources. For an aircraft, due to the fact that storage space is limited, a high-precision map cannot be stored offline and can only be stored in a cloud end, and development workload can be increased; and the high-precision map accessing the cloud also depends on a stable and reliable radio transmission system, which puts higher requirements on the radio system on the aircraft, and in addition, the subscription cost of the high-precision map is higher.
The method comprises the steps of analyzing and processing an OSM, an overlooking aerial image of the aircraft and the flying height of the aircraft through a global positioning subsystem based on an offline OSM to obtain global positioning information of a current frame, fusing inertial measurement parameters measured by an inertial navigation subsystem and the global positioning information of the current frame through a filter to obtain high-precision global positioning information of the aircraft, and finally performing frequency division output on the high-precision global positioning information to realize effective positioning of the aircraft. Because the data volume of the OSM is small, the aircraft can store the OSM offline, and thus, the aircraft can still achieve effective positioning in the case of failure of the GPS signal.
In one embodiment, the method for locating the aircraft can be used in an application scenario. Fig. 1 is a schematic structural diagram of a positioning apparatus of an aircraft according to an embodiment of the present disclosure, and as shown in fig. 1, the positioning apparatus of the aircraft may include a global positioning subsystem, an inertial navigation subsystem, a filter, and a frequency division output module. The positioning device of the aircraft can also be called a novel integrated navigation system, the global positioning subsystem is an offline OSM-based global positioning subsystem, the Filter is a Kalman Filter (KF Filter for short), and the aircraft is provided with shooting equipment and height metering equipment.
In the scene, the input data of the global positioning subsystem based on the offline OSM are the OSM stored offline, the overlook aerial image acquired in real time and the current flying height of the aircraft, and the global positioning subsystem based on the offline OSM analyzes and processes the overlook aerial image and the flying height and outputs low-precision global positioning information, namely the first global positioning information. The aerial photography device comprises an aerial vehicle, a shooting device, an altitude meter and a high-definition camera, wherein the aerial vehicle acquires an overlook aerial photography image in real time through the shooting device, the shooting device can be an overlook high-definition fast camera, the aerial vehicle acquires the flying altitude of the aerial vehicle through the altitude meter, and the altitude meter can be the altitude meter.
In the above scenario, the inertial navigation subsystem may obtain inertial measurement parameters of the aircraft by measuring the aircraft, where the inertial measurement parameters may include speed information, position information, and attitude information of the aircraft.
In the above scenario, the KF filter estimates the error of the inertial navigation subsystem by establishing an error model, and performs error correction on the inertial measurement parameters output by the inertial navigation subsystem by using the error, so that after the first global positioning information and the inertial measurement parameters output by the global positioning subsystem based on the offline OSM are fused, the high-precision global positioning information, that is, the second global positioning information, can be obtained.
In the above scenario, the frequency division output module may output the second global positioning information output by the KF filter at a different frequency. The frequency division output module can output the second global positioning information to the offline OSM-based global positioning subsystem at a frequency of 50Hz, and can provide the second global positioning information to other required applications or application systems at a frequency of 200 Hz.
In the above scenario, the positioning device of the aircraft, i.e. the novel integrated navigation system, abandons the conventional GPS positioning module and is replaced by an offline OSM-based global positioning subsystem, the OSM is stored offline, and the data volume of the OSM is small, so that when the GPS signal fails, the aircraft can still be effectively positioned by the offline stored OSM.
With reference to the above scenario, the following describes in detail how to solve the above technical problem and the technical solution of the present application with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The application provides a method for positioning an aircraft. Fig. 2 is a flowchart of a method for locating an aircraft according to an embodiment of the present application, and as shown in fig. 2, the method includes the following steps:
s201: and analyzing the overlook aerial image and the flying height based on the offline OSM to obtain first global positioning information of the aircraft.
In this step, the aircraft is provided with a shooting device for acquiring an aerial image for overlooking and an altitude metering device for metering the flying altitude of the aircraft.
Specifically, the overhead aerial image and the flying height can be analyzed by the offline OSM-based global positioning subsystem based on the offline OSM, so as to obtain the first global positioning information. The global positioning subsystem based on the offline OSM may be composed of two functional modules, as shown in fig. 3.
Fig. 3 is a schematic structural diagram of an offline OSM-based global positioning subsystem according to an embodiment of the present disclosure, and in fig. 3, the offline OSM-based global positioning subsystem may include an improved pose estimation algorithm FDCM-based global positioning module, a subgraph index and a processing module. The global positioning module based on the improved FDCM algorithm can comprise a road network and building contour feature extraction unit, a structural sampling unit of a feature image, a three-dimensional distance transformation integral image construction unit, a sliding window matching unit and a pose splicing unit; the subgraph indexing and processing module comprises a self-adaptive size subgraph indexing unit, a road network node and building area node extracting unit and a graph rendering unit.
Specifically, input data of the sub-image indexing and processing module are OSM stored offline and the flight altitude of the aircraft, and output data are point feature images of local sub-images of the OSM; the input data of the global positioning module based on the improved attitude estimation algorithm FDCM may be an OSM stored off-line, a real-time acquired overhead aerial image, previous frame global positioning information output by the frequency division output module at 50Hz, a point feature image output by the sub-image index and processing module, and the output data is global positioning information of a current frame, that is, the first global positioning information.
S202: and carrying out fusion processing on the inertia measurement parameters and the first global positioning information to obtain second global positioning information of the aircraft.
In this step, the accuracy of the second global positioning information is higher than the accuracy of the first global positioning information, and the inertial measurement parameters include velocity information, position information, and attitude information of the aircraft.
Specifically, the inertial measurement parameters can be obtained by measuring the aircraft by the inertial measurement subsystem, and since the inertial measurement parameters can be subjected to error correction by the KF filter, after the inertial measurement parameters and the first global positioning information are subjected to fusion processing by the KF filter, the accuracy of the obtained second global positioning information is higher than that of the first global positioning information.
According to the aircraft positioning method provided by the embodiment, the global positioning subsystem based on the off-line OSM is used for analyzing and processing the OSM, the overlook aerial image of the aircraft and the flight altitude of the aircraft, so that low-precision global positioning information can be obtained, and then the inertial measurement parameters and the low-precision global positioning information are subjected to fusion processing through the KF filter, so that high-precision global positioning information can be obtained. Because the data volume of the OSM is small, the aircraft can store the OSM off line, and therefore, the aircraft can still realize effective positioning under the condition that the GPS signals are invalid.
In one embodiment, analyzing the overhead aerial image and the flying height based on the offline OSM to obtain first global positioning information of the aircraft comprises: determining a point characteristic image of a local sub-image of the OSM according to the OSM and the flight altitude; and determining first global positioning information according to the overlook aerial image, the global positioning information corresponding to the previous frame and the point characteristic image.
In this scheme, the global positioning information corresponding to the previous frame may be high-precision global positioning information output by the frequency division output module to the offline OSM-based global positioning subsystem at 50 Hz. As shown in fig. 3, a sub-graph indexing and processing module may determine a point feature image of a local sub-graph of the OSM according to the OSM and the flying height, and then a global positioning module based on an improved FDCM algorithm may determine first global positioning information corresponding to a current frame according to a top-view aerial image, global positioning information corresponding to a previous frame, and the point feature image.
In the above scheme, because the OSM is stored offline, when the GPS signal fails, the global positioning information corresponding to the current frame can also be determined according to the global positioning information corresponding to the previous frame, so that real-time high-precision global positioning of the aircraft can be realized.
In one embodiment, determining a point feature image of a local sub-graph of the OSM from the OSM and the fly height comprises: determining a local subgraph according to the OSM, the flight altitude and the global positioning information corresponding to the previous frame; analyzing the local subgraph to obtain node information in the OSM, wherein the node information comprises nodes in the OSM, position information of the nodes and node relations among the nodes, and the nodes comprise road network nodes and building area nodes; and rendering the node information to obtain a point characteristic image.
In this scheme, as shown in fig. 3, the sub-graph indexing and processing module includes an adaptive size sub-graph indexing unit, a road network node and building region node extracting unit, and a graph rendering unit. The adaptive size subgraph indexing unit can determine the index size according to different heights, and the higher the height is, the larger the grabbing size of a local subgraph is in principle, so that the index size corresponding to the current frame can be determined through the global positioning information corresponding to the previous frame, the global positioning information of the previous frame and the global positioning information of the current frame are ensured to be at the same height as much as possible, and the real-time positioning accuracy of the aircraft is improved.
Specifically, when the sub-graph indexing and processing module determines the point feature image of the local sub-graph of the OSM according to the OSM and the flying height, the local sub-graph can be determined according to the OSM, the flying height and the global positioning information corresponding to the previous frame by the adaptive size sub-graph indexing unit; because the local subgraph comprises various road network nodes and building area nodes, the local subgraph can be analyzed by the road network node and building area node extraction unit to obtain node information comprising various road network nodes, various building area nodes, node relations among the nodes and position information of the nodes, and the node information can be stored in a csv-format file which can also be called as a node-node relation file; after the node information is rendered by the graph rendering unit, point feature information of the local sub-graph can be obtained.
In one embodiment, determining a local subgraph according to the OSM, the flying height and the global positioning information corresponding to the previous frame includes: determining the index size of the local subgraph according to the flying height; and according to the global positioning information corresponding to the previous frame, indexing the OSM by adopting the index size to obtain a local subgraph.
In the scheme, when the self-adaptive size subgraph indexing unit determines a local subgraph according to the OSM, the flying height and the corresponding global positioning information of the previous frame, because the aircraft cannot be guaranteed to be maintained at the same height in the flying phase, the overlooking aerial image of the aircraft has a size attribute due to the flying height change. In order to improve the accuracy of indexing the OSM and reduce the time for indexing the OSM, the index size of the indexed local sub-graph can be adaptively adjusted according to the flight altitude, then the position of the current position needing to be indexed on the OSM is determined according to the global positioning information corresponding to the previous frame, and the OSM is indexed by adopting the adjusted index size to obtain the local sub-graph of the OSM, wherein the local sub-graph can be output in an OSM format. In principle, the higher the height, the larger the capture size of the partial subgraph.
In one embodiment, rendering the node information to obtain a point feature image includes: performing connection processing on the nodes according to the position information of the nodes and the node relation among the nodes to obtain a node connection image; and rendering the node connection image to obtain a point characteristic image.
In the scheme, the position information of each node can be represented by longitude and latitude coordinates, when the node information is rendered through the graph rendering unit to obtain the point characteristic information of the local subgraph, the image rendering unit can firstly perform coordinate transformation on the longitude and latitude coordinates of each node to obtain coordinates under a northeast coordinate system, then perform connection processing on each node according to the node relation among the nodes, and finally render to obtain a point characteristic image. The point feature image comprises a straight-line segment which takes the first node as a starting point and the second node as an end point, so that the point feature image has strong structure, the calculation amount of the point feature image can be reduced, and the searching efficiency of the node in the local sub-image is improved.
In one embodiment, determining the first global positioning information according to the top-view aerial image, the global positioning information corresponding to the previous frame, and the point feature image includes: segmenting the overlook aerial image by adopting a semantic segmentation algorithm to obtain a pixel characteristic image, wherein the pixel characteristic image comprises road network pixels and building contour pixels; performing straight-line segment fitting processing on the pixel characteristic image by adopting a random sampling consistency algorithm to obtain a first characteristic vector diagram; constructing and obtaining a three-dimensional distance transformation integral graph according to the point characteristic image; matching the three-dimensional distance transformation integral image according to the first characteristic vector diagram, and determining local positioning information corresponding to the current frame; and carrying out pose splicing processing on the local positioning information and the global positioning information corresponding to the previous frame, and determining first global positioning information.
In the scheme, the global positioning module based on the improved FDCM algorithm can determine the first global positioning information corresponding to the current frame according to the overlooking aerial image, the global positioning information corresponding to the previous frame and the point feature image output by the image rendering unit, as shown in fig. 3, the global positioning module based on the improved FDCM algorithm can comprise a road network and building contour feature extraction unit, a structural sampling unit of the feature image, a three-dimensional distance transformation integral graph construction unit, a sliding window matching unit and a pose splicing unit.
Specifically, the road network and building contour feature extraction unit performs pixel-level segmentation processing on the overlooking aerial image by adopting a semantic segmentation algorithm based on a neural network, and the obtained pixel feature image only comprises road network pixels and building contour pixels, so that the efficiency of calculating the overlooking aerial image can be improved.
Specifically, the road network and the building outline have clear structural features, so that a structured sampling unit of the feature image can adopt a random sample consensus algorithm (RANSAC algorithm) to perform straight-line segment fitting processing on the pixel feature image and output a first feature vector diagram, the first feature vector diagram is represented by straight-line segments and normal vector quantization, the straight-line segments are composed of a certain pixel point serving as a starting point and another pixel point serving as an end point, and the first feature vector diagram can also be called as a structured straight-line segment feature vector diagram. Therefore, the size of the pixel characteristic image can be reduced under the condition of ensuring that the structures of the road network and the building outline are not changed, so that the storage space is saved.
Specifically, the point feature image of the local sub-image output by the image rendering unit can be constructed by the three-dimensional distance transformation integral graph construction unit to obtain a three-dimensional distance transformation integral graph, and then the sliding window matching unit is used for matching the point feature image according to the three-dimensional distance transformation integral graphAnd the first characteristic vector diagram carries out matching processing on the three-dimensional distance transformation integral diagram and determines local positioning information corresponding to the current frame. Since the first feature vector diagram is represented by straight line segments and normal vector quantization, the matching time complexity can be reduced, that is, the matching time complexity is reducedO(n)Fall toO(m)WhereinnIs the number of pixel points in the pixel characteristic image,mis the number of straight line segments in the first feature vector diagram, andm<<n。
specifically, the local positioning information corresponding to the current frame obtained by the sliding window matching unit is the local positioning information of the indexed local sub-image, and therefore the pose splicing unit is required to perform the pose splicing on the local positioning information corresponding to the current frame and the global positioning information corresponding to the previous frame to obtain the global positioning information corresponding to the current frame, namely the first global positioning information, so that the real-time high-precision global positioning of the aircraft can be realized.
In one embodiment, constructing and obtaining a three-dimensional distance transformation integral map according to the point feature image comprises: performing straight line segment fitting processing on the point characteristic image to obtain a second characteristic vector diagram, wherein the second characteristic vector diagram comprises a plurality of straight line segments, the starting points of the straight line segments are first pixel points, and the end points of the straight line segments are second pixel points; and analyzing and processing the second characteristic vector diagram to obtain a three-dimensional distance transformation integral diagram.
In the scheme, when the three-dimensional distance transformation integral image construction unit constructs the point characteristic image of the local sub-image output by the image rendering unit to obtain the three-dimensional distance transformation integral image, the point characteristic image of the local sub-image can be firstly subjected to structured sampling processing by the structured sampling unit of the characteristic image to form a linear characteristic vector image, namely a second characteristic vector image; the second characteristic vector diagram is quantitatively represented by the straight line segment and the normal vector, so that the efficiency of analyzing and processing the second characteristic vector diagram can be improved, the efficiency of constructing the three-dimensional distance transformation integral diagram can be improved, and the efficiency of performing real-time high-precision global positioning on the aircraft can be further improved.
In one embodiment, the analyzing the second feature vector diagram to obtain a three-dimensional distance transformation integral diagram includes: aiming at each pixel point in the second characteristic vector diagram, determining the intersection point of the straight line segment of the quantization direction of the pixel point and the edge of the second characteristic vector diagram; determining all intermediate pixel points between the intersection points and the pixel points; determining the sum of the distance between each intermediate pixel point in all the intermediate pixel points and each straight line segment in the second characteristic vector diagram; determining the minimum value in the sum of the distances as a distance transformation integral value of the pixel point; and rendering the distance conversion integral value corresponding to each pixel point in the second characteristic vector diagram to obtain a three-dimensional distance conversion integral diagram.
In the scheme, the three-dimensional distance transformation integral diagram construction unit can adopt an improved FDCM algorithm to analyze and process the second characteristic vector diagram to obtain the three-dimensional distance transformation integral diagram, firstly, a straight line segment of each pixel point in the second characteristic vector diagram in the quantization direction and an intersection point of the straight line segment and the image edge of the second characteristic vector diagram are determined, and all middle pixel points between the intersection point and the corresponding pixel point are determined; determining the sum of the distance between the middle pixel point and each straight line segment in the second characteristic vector diagram aiming at each middle pixel point in all the middle pixel points, namely, each middle pixel point corresponds to the sum of one distance; then sorting the sum of the distances corresponding to all the intermediate pixel points, and selecting the minimum value as the distance conversion integral value of the corresponding pixel point; and finally, rendering the distance transformation integral value corresponding to each pixel point in the second characteristic vector diagram to obtain a three-dimensional distance transformation integral diagram, wherein the three-dimensional distance transformation integral diagram is essentially a matrix.
In the scheme, the three-dimensional distance transformation integral graph can be obtained according to the three-dimensional distance transformation graph only by constructing the three-dimensional distance transformation graph as an intermediate result in the traditional FDCM algorithm, so that more calculation resources are consumed, and the three-dimensional distance transformation integral graph can be directly obtained through the improved FDCM algorithm of the scheme, so that the searching time of pixel points and the calculation time of the distance between the pixel points and straight line segments can be reduced, the calculation resources are saved, the efficiency of constructing the three-dimensional distance transformation integral graph is improved, and the efficiency of performing real-time high-precision global positioning on the aircraft can be further improved.
In one embodiment, the matching processing of the three-dimensional distance transformation integral image according to the first characteristic vector image to determine the local positioning information corresponding to the current frame includes: according to the target step length, matching the three-dimensional distance conversion integral graph by adopting a first characteristic vector diagram to obtain a plurality of candidate integral graphs; and selecting and processing the candidate integrograms by adopting a non-maximum suppression algorithm to obtain local positioning information.
In the scheme, the size of the three-dimensional distance conversion integral graph is far larger than that of the first characteristic vector graph, so that the first characteristic vector graph can be used as a sliding window to perform matching processing on the three-dimensional distance conversion integral graph to obtain local positioning information of a local subgraph.
In particular, since the flying height of the aircraft in the flying phase is changing, the step size when the sliding window is matched needs to be adaptively adjustedδIf the current flying height of the aircraft is higher, the aircraft needs to beδThe reduction is that if the current flying height of the aircraft is lower, the requirement is thatδAnd is increased.
Specifically, after the target step length during sliding window matching is determined, the first feature vector diagram can be adopted to perform matching processing on the three-dimensional distance transformation integral map according to the target step length to obtain a plurality of candidate integral maps, then a non-maximum suppression algorithm is adopted to perform selection processing on the plurality of candidate integral maps, and the local positioning information is determined through the selected optimal candidate integral map to improve the accuracy of the obtained local positioning information.
The aircraft positioning method provided by the embodiment provides a novel combined navigation system consisting of an offline OpenStreetMap-based global positioning subsystem and an inertial navigation subsystem, so that the aircraft can perform global positioning when a GPS signal fails, and real-time high-precision positioning information is obtained; the traditional FDCM algorithm is improved, the improved FDCM algorithm under the global positioning background is obtained, namely, the matching robustness can be enhanced through a sliding window matching strategy for adaptively adjusting the step length of the flight height of the aircraft, local positioning can be converted into global positioning through adding a pose splicing unit, a three-dimensional distance transformation integral graph is directly constructed, the calculation process of an intermediate three-dimensional distance transformation graph is eliminated, and the real-time high-precision global positioning efficiency of the aircraft is improved.
On the whole, the technical scheme provided by the application is a technical scheme which can enable the aircraft to perform real-time high-precision global positioning when a GPS signal fails and can improve the efficiency of the real-time high-precision global positioning of the aircraft.
The embodiment of the application further provides a positioning device of the aircraft, the aircraft is provided with shooting equipment and height metering equipment, the shooting equipment is used for collecting overlooking aerial images, and the height metering equipment is used for metering the flying height of the aircraft. Fig. 4 is another schematic structural diagram of a positioning device of an aircraft according to an embodiment of the present application, and as shown in fig. 4, the positioning device 400 of the aircraft includes:
the analysis module 401 is configured to analyze the overhead aerial image and the flying height based on an offline open street map OSM to obtain first global positioning information of the aircraft;
the fusion module 402 is configured to perform fusion processing on the inertia measurement parameter and the first global positioning information to obtain second global positioning information of the aircraft, where the precision of the second global positioning information is higher than that of the first global positioning information, and the inertia measurement parameter includes speed information, position information, and attitude information of the aircraft.
Optionally, the analysis module 401 is configured to, when analyzing the overhead aerial image and the flying height based on the offline OSM to obtain the first global positioning information of the aircraft, specifically: determining a point characteristic image of a local sub-image of the OSM according to the OSM and the flight altitude; and determining first global positioning information according to the overlooking aerial image, the global positioning information corresponding to the previous frame and the point characteristic image.
Optionally, when determining the point feature image of the local sub-graph of the OSM according to the OSM and the flying height, the analysis module 401 is specifically configured to: determining a local subgraph according to the OSM, the flight altitude and the global positioning information corresponding to the previous frame; analyzing the local subgraph to obtain node information in the OSM, wherein the node information comprises nodes in the OSM, position information of the nodes and node relations among the nodes, and the nodes comprise road network nodes and building area nodes; and rendering the node information to obtain a point characteristic image.
Optionally, when the analysis module 401 determines the local subgraph according to the OSM, the flying height, and the global positioning information corresponding to the previous frame, the analysis module is specifically configured to: determining the index size of the local subgraph according to the flying height; and according to the global positioning information corresponding to the previous frame, indexing the OSM by adopting the index size to obtain a local subgraph.
Optionally, the analysis module 401 is specifically configured to, when performing rendering processing on the node information to obtain the point feature image: performing connection processing on the nodes according to the position information of the nodes and the node relation among the nodes to obtain a node connection image; and rendering the node connection image to obtain a point characteristic image.
Optionally, when determining the first global positioning information according to the overhead aerial image, the global positioning information corresponding to the previous frame, and the point feature image, the analysis module 401 is specifically configured to: segmenting the overlooking aerial image by adopting a semantic segmentation algorithm to obtain a pixel characteristic image, wherein the pixel characteristic image comprises road network pixels and building outline pixels; performing straight-line segment fitting processing on the pixel characteristic image by adopting a random sampling consistency algorithm to obtain a first characteristic vector diagram; constructing and obtaining a three-dimensional distance transformation integral graph according to the point characteristic image; matching the three-dimensional distance transformation integral image according to the first characteristic vector diagram, and determining local positioning information corresponding to the current frame; and performing pose splicing processing on the local positioning information and the global positioning information corresponding to the previous frame to determine first global positioning information.
Optionally, when the analysis module 401 constructs a three-dimensional distance transformation integral graph according to the point feature image, the analysis module is specifically configured to: performing linear segment fitting processing on the point characteristic image to obtain a second characteristic vector diagram, wherein the second characteristic vector diagram comprises a plurality of linear segments, the starting point of each linear segment is a first pixel point, and the end point of each linear segment is a second pixel point; and analyzing and processing the second characteristic vector diagram to obtain a three-dimensional distance transformation integral diagram.
Optionally, the analysis module 401 is specifically configured to, when analyzing the second feature vector diagram to obtain the three-dimensional distance transformation integral diagram: aiming at each pixel point in the second characteristic vector diagram, determining the intersection point of the straight line segment of the quantization direction of the pixel point and the edge of the second characteristic vector diagram; determining all intermediate pixel points between the intersection points and the pixel points; determining the sum of the distance between each intermediate pixel point in all the intermediate pixel points and each straight line segment in the second characteristic vector diagram; determining the minimum value in the sum of the distances as a distance transformation integral value of the pixel point; and rendering the distance transformation integral value corresponding to each pixel point in the second characteristic vector diagram to obtain a three-dimensional distance transformation integral diagram.
Optionally, the analysis module 401 is specifically configured to, when performing matching processing on the three-dimensional distance transformation integral image according to the first feature vector diagram and determining local positioning information corresponding to the current frame: according to the target step length, matching the three-dimensional distance conversion integral graph by adopting a first characteristic vector diagram to obtain a plurality of candidate integral graphs; and selecting and processing the candidate integrograms by adopting a non-maximum suppression algorithm to obtain local positioning information.
The positioning device for an aircraft provided in this embodiment is used for executing the technical scheme of the positioning method for an aircraft in the foregoing method embodiments, and the implementation principle and the technical effect are similar, and are not described again here.
The embodiment of the application further provides an electronic device, and the electronic device may be the aircraft. Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, and as shown in fig. 5, the electronic device 500 may include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, audio component 510, input/output interface 512, sensor component 514, and communication component 516. The input/output interface 512 may also be referred to as an I/O interface 512.
The processing component 502 generally controls overall operation of the electronic device 500, such as operations related to scanning, photographing, data communication, and the like. The processing component 502 may include one or more processors 520 to execute computer-executable instructions to perform all or a portion of the steps of the aircraft location method described above. Further, the processing component 502 can include one or more modules that facilitate interaction between the processing component 502 and other components. For example, the processing component 502 can include a multimedia module to facilitate interaction between the multimedia component 508 and the processing component 502. The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 504 is configured to store various types of data to support operations at the electronic device 500, the memory 504 being communicatively coupled to the processing component 502. Examples of such data include instructions, data, etc. for any application or method operating on the electronic device 500. The Memory 504 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random-Access Memory (SRAM), electrically-Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic or optical disk, and so on. The memory 504 is used for storing programs, and the processing component 502 executes the programs after receiving the execution instructions. Further, the software programs and modules within the memory 504 may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and may communicate with various hardware or software components to provide an operating environment for other software components.
The power supply component 506 provides power to the various components of the electronic device 500. The power components 506 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 500.
The multimedia component 508 includes a screen that provides an output interface between the electronic device 500 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The audio component 510 is configured to output and/or input audio signals. For example, the audio component 510 may include a Microphone (MIC) and the speaker may be configured to output audio signals to the exterior, which may include information related to the current location of the aircraft, etc., when the electronic device 500 is in an operational mode, such as a voice output mode.
The I/O interface 512 provides an interface between the processing component 502 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a volume button, a start button, and a lock button.
The sensor assembly 514 includes one or more sensors for providing various aspects of status assessment for the electronic device 500. For example, the sensor assembly 514 may detect an open/closed state of the electronic device 500, the relative positioning of components, such as a display and keypad of the electronic device 500, etc., the sensor assembly 514 may also detect a change in the position of the electronic device 500 or a component of the electronic device 500, the presence or absence of user contact with the electronic device 500.
The communication component 516 is configured to facilitate communications between the electronic device 500 and other devices in a wired or wireless manner. The electronic device 500 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 516 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the Communication component 516 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared Data Association (IrDA) technology, ultra Wide Band (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described positioning method of the aircraft.
The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the technical solution of the positioning method for an aircraft provided in the foregoing method embodiment is implemented.
The embodiments of the present application further provide a computer program product, which includes a computer program, and the computer program is used for implementing the technical solution of the method for positioning an aircraft provided in the foregoing method embodiments when executed by a processor.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (13)
1. The aircraft positioning method is characterized in that the aircraft is provided with a shooting device and an altitude metering device, the shooting device is used for collecting an overlook aerial image, and the altitude metering device is used for metering the flying altitude of the aircraft;
the positioning method comprises the following steps:
analyzing the overlook aerial photography image and the flight altitude based on an off-line Open Street Map (OSM) to obtain first global positioning information of the aircraft;
and fusing the inertia measurement parameters and the first global positioning information to obtain second global positioning information of the aircraft, wherein the precision of the second global positioning information is higher than that of the first global positioning information, and the inertia measurement parameters comprise speed information, position information and attitude information of the aircraft.
2. The method according to claim 1, wherein the analyzing the overhead aerial image and the altitude based on the offline OSM to obtain a first global positioning information of the aircraft comprises:
determining a point characteristic image of a local sub-image of the OSM according to the OSM and the flight height;
and determining the first global positioning information according to the overlooking aerial image, the global positioning information corresponding to the previous frame and the point characteristic image.
3. The method of claim 2, wherein determining the point feature image of the local sub-graph of the OSM from the OSM and the fly height comprises:
determining the local subgraph according to the OSM, the flight altitude and the global positioning information corresponding to the previous frame;
analyzing the local subgraph to obtain node information in the OSM, wherein the node information comprises nodes in the OSM, position information of the nodes and node relations among the nodes, and the nodes comprise road network nodes and building area nodes;
and rendering the node information to obtain the point characteristic image.
4. The positioning method according to claim 3, wherein the determining the local subgraph according to the OSM, the flying height and the global positioning information corresponding to the previous frame comprises:
determining the index size of the local subgraph according to the flight height;
and indexing the OSM by adopting the index size according to the global positioning information corresponding to the previous frame to obtain the local subgraph.
5. The method according to claim 3, wherein the rendering the node information to obtain the point feature image includes:
according to the position information of the nodes and the node relation among the nodes, performing connection processing on the nodes to obtain a node connection image;
and rendering the node connection image to obtain the point feature image.
6. The positioning method according to any one of claims 2 to 5, wherein the determining the first global positioning information according to the overhead aerial image, the global positioning information corresponding to the previous frame, and the point feature image includes:
adopting a semantic segmentation algorithm to segment the overlook aerial image to obtain a pixel characteristic image, wherein the pixel characteristic image comprises road network pixels and building contour pixels;
performing straight-line segment fitting processing on the pixel characteristic image by adopting a random sampling consistency algorithm to obtain a first characteristic vector diagram;
constructing and obtaining a three-dimensional distance transformation integral graph according to the point characteristic image;
matching the three-dimensional distance transformation integral image according to the first characteristic vector image, and determining local positioning information corresponding to the current frame;
and performing pose splicing processing on the local positioning information and global positioning information corresponding to the previous frame to determine the first global positioning information.
7. The method according to claim 6, wherein constructing a three-dimensional distance transform integral map according to the point feature image comprises:
performing straight line segment fitting processing on the point feature image to obtain a second feature vector image, wherein the second feature vector image comprises a plurality of straight line segments, the starting points of the straight line segments are first pixel points, and the end points of the straight line segments are second pixel points;
and analyzing and processing the second characteristic vector diagram to obtain the three-dimensional distance transformation integral diagram.
8. The method according to claim 7, wherein said analyzing the second feature vector diagram to obtain the three-dimensional distance transformation integral map comprises:
aiming at each pixel point in the second characteristic vector diagram, determining an intersection point of a straight line segment of the quantization direction where the pixel point is located and the edge of the second characteristic vector diagram;
determining all intermediate pixel points between the intersection point and the pixel points;
determining the sum of the distance between each intermediate pixel point of all the intermediate pixel points and each straight line segment in the second characteristic vector diagram;
determining the minimum value in the sum of the distances as the distance transformation integral value of the pixel point;
and rendering the distance conversion integral value corresponding to each pixel point in the second characteristic vector diagram to obtain the three-dimensional distance conversion integral diagram.
9. The method according to claim 6, wherein said matching the three-dimensional distance transform integral map according to the first feature vector map to determine local positioning information corresponding to the current frame comprises:
according to the target step length, matching the three-dimensional distance transformation integral graph by adopting the first characteristic vector diagram to obtain a plurality of candidate integral graphs;
and selecting the candidate integrograms by adopting a non-maximum suppression algorithm to obtain the local positioning information.
10. The positioning device of the aircraft is characterized in that the aircraft is provided with a shooting device and an altitude metering device, the shooting device is used for collecting an overlook aerial image, and the altitude metering device is used for metering the flying altitude of the aircraft;
the positioning device includes:
the global positioning subsystem is used for analyzing the overlook aerial image and the flight altitude based on an offline OSM to obtain first global positioning information of the aircraft;
the inertial navigation subsystem is used for measuring the aircraft to obtain inertial measurement parameters of the aircraft, and the inertial measurement parameters comprise speed information, position information and attitude information of the aircraft;
and the filter is used for carrying out fusion processing on the inertia measurement parameters and the first global positioning information to obtain second global positioning information of the aircraft, wherein the precision of the second global positioning information is higher than that of the first global positioning information.
11. The positioning device of claim 10, further comprising:
and the frequency division output module is used for outputting the second global positioning information at a target frequency.
12. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored by the memory to implement the method of locating an aircraft of any of claims 1 to 9.
13. A computer-readable storage medium, having stored thereon computer-executable instructions for implementing a method for locating an aircraft according to any one of claims 1 to 9 when executed by a processor.
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